Determining sensor parameters and model parameters of a robot
US9844872B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 13, 2015 |
| Grant date | Dec 19, 2017 |
| Priority date | — |
| Expiry date | Feb 24, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40527
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Methods, apparatus, systems, and computer readable media are provided for determining: 1) sensor parameters for sensors of a robot and 2) model parameters of a dynamic model of the robot. The sensor parameters and model parameters are determined based on applying, as values for known variables of a system equation of the robot, sensor readings and position values for each of a plurality of instances of a traversal of the robot along a trajectory. The system equation of the robot is a dynamic model for the robot that includes sensor models substituted for one or more corresponding variables of the dynamic model. The system equation includes unknown variables representing unknown sensor biases for the sensors of the robot and unknown model parameters of the dynamic model of the robot. Solutions to the unknown variables are generated and utilized to determine the sensor parameters and the model parameters.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.